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公开(公告)号：US20080066207A1
公开(公告)日：2008-03-13
申请号：US11646381
申请日：2006-12-28
IPC分类号： B25J5/00
CPC分类号： B25J5/007 , B25J9/0003 , B25J9/1692
摘要： A computer in a transport system includes: a shooting part for shooting a first calibration tray by controlling a camera; a tray position computing part for computing a tray position of the first calibration tray within a captured image which the shooting part shot; a hand position acquisition part for acquiring a hand position indicative of a position of the hand robot of when the hand robot installs onto the first calibration tray a first transported article used for calibration; a calibration part for computing a calibration data based on the tray position and the hand position; and a transported article installing part which, when the mobile robot reached a predetermined arrival area, controls, based on the calibration data, the hand robot so as to install a second transported article onto a second tray, the second tray which the mobile robot being provided with.
摘要翻译： 运输系统中的计算机包括：拍摄部件，用于通过控制相机来拍摄第一校准盘; 托盘位置计算部件，用于计算拍摄部分拍摄的拍摄图像内的第一校准托盘的托盘位置; 指针位置获取部分，用于获取指示手动机器人当手动机器人安装到第一校准托盘上时用于校准的第一输送物品的位置的指针位置; 基于托盘位置和手位置计算校准数据的校准部件; 以及运送物品安装部，其中当所述移动机器人到达预定到达区域时，基于所述校准数据来控制所述手持机器人，以将第二传送物品安装到第二托盘上，所述移动机器人的第二托盘 随附。
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公开(公告)号：US20070053679A1
公开(公告)日：2007-03-08
申请号：US11385743
申请日：2006-03-22
申请人： Fumiko Beniyama , Toshio Moriya
发明人： Fumiko Beniyama , Toshio Moriya
CPC分类号： G03D9/02
摘要： A computer includes a photographing unit for photographing every time a turn table is rotated and acquiring images of the photographing target from a plurality of photographing devices; a coordinate-system setting unit for setting a coordinate system; position of an extracted feature point of the photographing target being defined as reference of the coordinate system; a viewpoint-parameter calculation unit for calculating viewpoint parameters on the basis of the coordinate system set by the coordinate-system setting unit and camera parameters such as focal lengths of the photographing devices, the viewpoint parameters including position data of the photographing devices and direction data of the photographing devices are oriented; and a correspondence-data storage unit for storing the images and the viewpoint parameters being made correlated with each other, the images being acquired by the photographing unit, the viewpoint parameters being calculated by the viewpoint-parameter calculation unit.
摘要翻译： 计算机包括拍摄单元，用于每次旋转转盘时拍摄，并从多个拍摄装置获取拍摄对象的图像; 用于设定坐标系的坐标系设定单元; 拍摄目标的提取特征点的位置被定义为坐标系的参考; 视点参数计算单元，用于基于由坐标系设置单元设置的坐标系和诸如摄像设备的焦距的摄像机参数来计算视点参数，视点参数包括拍摄设备的位置数据和方向数据 的摄影设备定向; 以及对应数据存储单元，用于存储图像和视点参数彼此相关，所述图像由所述拍摄单元获取，所述视点参数由所述视点参数计算单元计算。
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3.发明授权Three-dimensional object recognition system and inventory system using the same 有权三维物体识别系统和库存系统使用相同公开(公告)号：US08150658B2
公开(公告)日：2012-04-03
申请号：US12502719
申请日：2009-07-14
CPC分类号： G06F17/30259 , G06K9/00201 , G06Q10/087
摘要： A system recognizes an arrangement of an object and counts the number of objects, comprising: a sensor for measuring a distance between the sensor and an object; a moving mechanism for moving the sensor; and a computer that is connected with the sensor and includes an object information database, an object arrangement database; a sensor data integrating section; and the sensor an object comparison calculator adapted to create an object model based on the data.
摘要翻译： 系统识别物体的布置并对物体的数量进行计数，包括：用于测量传感器和物体之间的距离的传感器; 用于移动传感器的移动机构; 以及与传感器连接并包括对象信息数据库，对象安排数据库的计算机; 传感器数据积分部; 所述传感器适于基于所述数据创建对象模型。
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公开(公告)号：US07424342B2
公开(公告)日：2008-09-09
申请号：US11646381
申请日：2006-12-28
IPC分类号： G06F19/00
CPC分类号： B25J5/007 , B25J9/0003 , B25J9/1692
摘要： A computer in a transport system includes: a shooting part for shooting a first calibration tray by controlling a camera; a tray position computing part for computing a tray position of the first calibration tray within a captured image which the shooting part shot; a hand position acquisition part for acquiring a hand position indicative of a position of the hand robot of when the hand robot installs onto the first calibration tray a first transported article used for calibration; a calibration part for computing a calibration data based on the tray position and the hand position; and a transported article installing part which, when the mobile robot reached a predetermined arrival area, controls, based on the calibration data, the hand robot so as to install a second transported article onto a second tray, the second tray which the mobile robot being provided with.
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公开(公告)号：US08022812B2
公开(公告)日：2011-09-20
申请号：US12132034
申请日：2008-06-03
申请人： Fumiko Beniyama , Toshio Moriya , Kosei Matsumoto
发明人： Fumiko Beniyama , Toshio Moriya , Kosei Matsumoto
IPC分类号： H04Q5/22
CPC分类号： G05D1/024 , G05D1/0274 , G05D1/028 , G05D2201/0216 , G06K7/0008 , G06K7/10079 , G06K17/00 , G06K2017/0045 , G06K2017/0051 , G06Q10/047 , H04Q2213/13095 , H04Q2213/13098
摘要： An information collection system is provided, which can automatically calculate an operation or a travel path of a tag reader for collecting information of an RF tag. The information collection system of the present invention moves, in a movable area of a two-dimensional map, the tag reader along a surface of an object by referring to a three-dimensional map to emit radio waves while moving an information collection robot, records, upon reception of tag ID from the RF tag, a position of the information collection robot at the time as a data acquisition position, and calculates a path passing through data acquisition positions of all the recorded data as a moving sequence in a movable area of the information collection robot.
摘要翻译： 提供一种信息收集系统，其可以自动计算用于收集RF标签信息的标签读取器的操作或行进路径。 本发明的信息收集系统在二维地图的可移动区域中，通过参考三维地图沿着物体的表面移动标签读取器，以在移动信息收集机器人时发射无线电波，记录 在从RF标签接收到标签ID时，作为数据获取位置的信息收集机器人的位置，并且计算经过所有记录数据的数据获取位置的路径作为移动序列在可移动区域 信息收集机器人。
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公开(公告)号：US20070188615A1
公开(公告)日：2007-08-16
申请号：US11589117
申请日：2006-10-30
申请人： Fumiko Beniyama , Toshio Moriya , Kosei Matsumoto
发明人： Fumiko Beniyama , Toshio Moriya , Kosei Matsumoto
IPC分类号： H04N5/225
CPC分类号： H04N7/185 , G05D1/0246 , G05D1/0274 , G05D2201/0216 , H04N7/183 , H04N7/188
摘要： In the monitoring system that used fixed camera and movement camera, the technique is provided in which facilitates the route making and the movement control of the mobile robot in the remote place. The mobile image-taking device and a monitoring device are connected to each other via a communication network. The monitoring device stores map on the place to be monitored, and outputs the map to a display. Moreover, the monitoring system receives the taking image from a fixed camera, and outputs the image to a display. If abnormality is detected from the taking image of a fixed camera, the movement camera is moved to the abnormality occurrence position. The monitoring device transmits a route of the mobile monitoring device, which is inputted from an input device, to the mobile monitoring device. The mobile monitoring device moves in the place to be monitored according to the received route. The mobile monitoring device takes an image with a camera according to an instruction from the monitoring device, and transmits the taken image to the monitoring device.
摘要翻译： 在使用固定摄像机和移动摄像机的监控系统中，提供了便于远程操作的移动机器人的路线制作和移动控制的技术。 移动图像拍摄装置和监视装置经由通信网络彼此连接。 监视装置将地图存储在要监视的地方，并将地图输出到显示器。 此外，监视系统从固定摄像机接收拍摄图像，并将图像输出到显示器。 如果从固定摄像机的拍摄图像检测到异常，则移动摄像机被移动到异常发生位置。 监视装置将从输入装置输入的移动监视装置的路径发送到移动监视装置。 移动监视设备根据接收到的路由移动到要监视的位置。 移动监视装置根据来自监视装置的指示，利用摄像机拍摄图像，并将拍摄图像发送到监视装置。
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公开(公告)号：US20070103463A1
公开(公告)日：2007-05-10
申请号：US11512252
申请日：2006-08-30
申请人： Fumiko Beniyama , Toshio Moriya , Hitoshi Namai
发明人： Fumiko Beniyama , Toshio Moriya , Hitoshi Namai
IPC分类号： G06T15/40
CPC分类号： G06T15/005
摘要： To realize high speed simulation a simulation apparatus is provided with a graphics board including a depth buffer that stores a depth value of each polygon represented by three dimensional polygon data. In the graphics board, the depth value of each polygon is calculated on the basis of a camera parameter and the three dimensional polygon data, and the depth value within the depth buffer is sequentially updated with the calculated depth value. According to the depth value, sensor data is generated and outputted.
摘要翻译： 为了实现高速仿真，模拟装置具有包括存储由三维多边形数据表示的每个多边形的深度值的深度缓冲器的图形板。 在图形板中，基于相机参数和三维多边形数据计算每个多边形的深度值，并且用计算出的深度值顺序地更新深度缓冲器内的深度值。 根据深度值，生成并输出传感器数据。
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8.发明申请THREE-DIMENSIONAL OBJECT RECOGNITION SYSTEM AND INVENTORY SYSTEM USING THE SAME 有权三维目标识别系统和使用该目标的库存系统公开(公告)号：US20100017407A1
公开(公告)日：2010-01-21
申请号：US12502719
申请日：2009-07-14
IPC分类号： G06F17/30
CPC分类号： G06F17/30259 , G06K9/00201 , G06Q10/087
摘要： A system recognizes an arrangement of an object and counts the number of objects, comprising: a sensor for measuring a distance between the sensor and an object; a moving mechanism for moving the sensor; and a computer that is connected with the sensor and includes an object information database, an object arrangement database; a sensor data integrating section; and the sensor an object comparison calculator adapted to create an object model based on the data.
摘要翻译： 系统识别物体的布置并对物体的数量进行计数，包括：用于测量传感器和物体之间的距离的传感器; 用于移动传感器的移动机构; 以及与传感器连接并包括对象信息数据库，对象安排数据库的计算机; 传感器数据积分部; 所述传感器适于基于所述数据创建对象模型。
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公开(公告)号：US20090021351A1
公开(公告)日：2009-01-22
申请号：US12132034
申请日：2008-06-03
申请人： Fumiko Beniyama , Toshio Moriya , Kosei Matsumoto
发明人： Fumiko Beniyama , Toshio Moriya , Kosei Matsumoto
IPC分类号： H04Q5/22
CPC分类号： G05D1/024 , G05D1/0274 , G05D1/028 , G05D2201/0216 , G06K7/0008 , G06K7/10079 , G06K17/00 , G06K2017/0045 , G06K2017/0051 , G06Q10/047 , H04Q2213/13095 , H04Q2213/13098
摘要： An information collection system is provided, which can automatically calculate an operation or a travel path of a tag reader for collecting information of an RF tag. The information collection system of the present invention moves, in a movable area of a two-dimensional map, the tag reader along a surface of an object by referring to a three-dimensional map to emit radio waves while moving an information collection robot, records, upon reception of tag ID from the RF tag, a position of the information collection robot at the time as a data acquisition position, and calculates a path passing through data acquisition positions of all the recorded data as a moving sequence in a movable area of the information collection robot
摘要翻译： 提供一种信息收集系统，其可以自动计算用于收集RF标签信息的标签读取器的操作或行进路径。 本发明的信息收集系统在二维地图的可移动区域中，通过参考三维地图沿着物体的表面移动标签读取器，以在移动信息收集机器人时发射无线电波，记录 在从RF标签接收到标签ID时，作为数据获取位置的信息收集机器人的位置，并且计算经过所有记录数据的数据获取位置的路径作为移动序列在可移动区域 信息收集机器人
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公开(公告)号：US07440691B2
公开(公告)日：2008-10-21
申请号：US11385743
申请日：2006-03-22
申请人： Fumiko Beniyama , Toshio Moriya
发明人： Fumiko Beniyama , Toshio Moriya
CPC分类号： G03D9/02
摘要： A computer includes a photographing unit for photographing every time a turn table is rotated and acquiring images of the photographing target from a plurality of photographing devices; a coordinate-system setting unit for setting a coordinate system; position of an extracted feature point of the photographing target being defined as reference of the coordinate system; a viewpoint-parameter calculation unit for calculating viewpoint parameters on the basis of the coordinate system set by the coordinate-system setting unit and camera parameters such as focal lengths of the photographing devices, the viewpoint parameters including position data of the photographing devices and direction data of the photographing devices are oriented; and a correspondence-data storage unit for storing the images and the viewpoint parameters being made correlated with each other, the images being acquired by the photographing unit, the viewpoint parameters being calculated by the viewpoint-parameter calculation unit.
摘要翻译： 计算机包括拍摄单元，用于每次旋转转盘时拍摄，并从多个拍摄装置获取拍摄对象的图像; 用于设定坐标系的坐标系设定单元; 拍摄目标的提取特征点的位置被定义为坐标系的参考; 视点参数计算单元，用于基于由坐标系设置单元设置的坐标系和诸如摄像设备的焦距的摄像机参数来计算视点参数，视点参数包括拍摄设备的位置数据和方向数据 的摄影设备定向; 以及对应数据存储单元，用于存储图像和视点参数彼此相关，所述图像由所述拍摄单元获取，所述视点参数由所述视点参数计算单元计算。
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